CN102458987A - System, floating unit and method for elevating payloads - Google Patents
System, floating unit and method for elevating payloads Download PDFInfo
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- CN102458987A CN102458987A CN2010800242443A CN201080024244A CN102458987A CN 102458987 A CN102458987 A CN 102458987A CN 2010800242443 A CN2010800242443 A CN 2010800242443A CN 201080024244 A CN201080024244 A CN 201080024244A CN 102458987 A CN102458987 A CN 102458987A
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- floating element
- propelling unit
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- framework
- flexible cable
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/022—Tethered aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0866—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted to captive aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/60—Tethered aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
- B64U2101/31—UAVs specially adapted for particular uses or applications for imaging, photography or videography for surveillance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
- B64U2201/202—Remote controls using tethers for connecting to ground station
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/24—Coaxial rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/26—Ducted or shrouded rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/90—Launching from or landing on platforms
- B64U70/92—Portable platforms
- B64U70/93—Portable platforms for use on a land or nautical vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/12—Gyroscopes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/12—Gyroscopes
- Y10T74/1293—Flexure hinges for gyros
Abstract
A method, system and a floating unit. The floating unit includes a propeller, a frame, a propeller motor that is configured to rotate the propeller about a first axis; wherein the propeller motor is coupled to the frame, a movable steering element; a controller, for controlling at least one of the propeller motor and the movable steering unit to affect at least one of a location and an orientation of the floating unit; and an interfacing module for coupling a payload to the floating unit and for receiving power from a connecting element that couples the floating unit to a ground unit; wherein the power received by the power interface is utilized to power the propeller motor and the controller.
Description
The application requires the rights and interests of the interim patent number 61/166,820 of the U.S. of submission on April 6th, 2010, and the interim patent integral body of this U.S. is incorporated into here.
Technical field
The present invention relates to be used for lifting system, floating element and the method for capacity weight through floating element.
Background technology
The height of prior art is observed and give a signal equipment (such as view camera) is connected to base unit through the mast of being processed by rigid metal structure or other rigid material that uses fastening.
Mast applies big moment owing to its sizable height on base portion.For example, the wind pressure of every 1Kg power of locating at the top of 30 meters height masts applies the moment of about 30Kg with the Yi Michu on platform, and on representative type 20cm diameter base cage structure, applies the pressure of about 150Kg.Therefore, need heavy-duty vehicle to support this equipment through its support structure.
In addition, the process of equipment being lifted to predetermined altitude is time-consuming and needs collaborative work.The operator that strategy balloon and mast are suffered from the stability of long stretching, extension time, long folding time, big size (for 300 gram capacity weight and balloons, approximately needing 1 cubic meter helium), difference and needed to train through highly.
Need be used for lifting the simpler system and method for the equipment (such as view camera) that is used for highly observation or give a signal.
Summary of the invention
A kind of floating element is provided.This floating element can comprise: propelling unit; Framework; Propelling unit motor, said propelling unit motor can be configured to make said propelling unit to rotate around first axle; Wherein, the propelling unit motor can be connected to framework; Removable steering component; Controller, said controller are used for controlling said propelling unit motor and removable steering unit one of at least with the location that influences said floating element and orientation one of at least; And interface module, said interface module is used for capacity weight is connected to said floating element and is used for receiving electric power from the Connection Element that said floating element is connected to base unit; The electric power that is wherein received by said electricity interface can be used to said propelling unit motor and said controller provides electric power.
Said Connection Element can be a flexible cable, is at said floating element that said flexible cable can maintain in the tension when aerial.
Said propelling unit motor can be configured to make said propelling unit to rotate with fixed speed.Said floating element can comprise at least one fixedly steering component, to prevent that said floating element is owing to said angle of rake with said fixed speed rotation and around said first axle rotation.
Said floating element can comprise at least one fixedly steering component, so that reduce said floating element because said angle of rake rotation and around the rotation of said first axle.
Said framework can comprise propelling unit motor support element and a plurality of fixedly steering component, and said a plurality of fixedly steering components are connected to said propelling unit motor support element the annular outer cover of said floating element.
Said interface module can be configured between the top of said Connection Element and said first axle, introduce angular deviation.
Interface module can comprise: circular joint, said circular joint are connected between the top and said framework of said Connection Element; With at least one interface module motor; And interface element, at least one conversion of motion that said interface element is used for said at least one interface module motor is the top of said Connection Element and the relative motion between the said framework.
Said interface module can comprise: the bottom that engages said Connection Element; Can be shaped as the shell that is connected to said capacity weight; With the upper end that can comprise said at least one interface module motor.
Annular outer cover can be surrounded or processed by thermal property (and/or electromagnetic radiation characteristic) reduction material by thermal property (and/or electromagnetic radiation characteristic) reduction material.
Said floating element can comprise a plurality of removable steering components, and said a plurality of removable steering components extend towards said loop configuration element from the central area of said floating element.
Said a plurality of removable steering component extends towards said loop configuration element with radial manner.
At least one removable steering component can be connected to the interior section of said annular outer cover.
Said interface module can comprise the capacity weight interface module that is used for said capacity weight is connected to said floating element and be used for receiving from said Connection Element the Connection Element interface module of electric power.
Said capacity weight interface module can be arranged in said propelling unit motor below.
Said capacity weight interface module can be arranged in said propelling unit top.
Said removable steering component can move by means of the steering component motor, and it is outside that said steering component motor can be positioned at said annular outer cover.
Said framework can be that first framework and wherein said floating element also can comprise second framework; Wherein said first framework can be connected to said propelling unit and said propelling unit motor; Wherein said second framework can be connected to said interface module; And wherein said first framework and said second framework are connected to each other through the framework link block, and said framework link block is convenient to the relative motion between said first framework and second framework.
Floating element can comprise and is used for the orientation sensors of orientation of sensing floating element.
Said removable steering component can be configured to by said controller control, so that compensate the location of said floating element or the quick variation of orientation.
Said controller can be configured to said removable steering component is arranged in original position so that prevent said float element because said angle of rake with fixed speed rotation and rotate around the floating element axis; Wherein said controller can also be configured to make said removable steering component near said original position, to move so that compensate the location of said floating element or the quick variation of orientation.
A kind of system is provided.Said system can comprise: (i) Connection Element; (ii) base unit, this base unit can comprise: be used for electric power is offered the power supply of flexible cable; Be used for changing the Connection Element effector of the effective length of said Connection Element; The effective length of wherein said Connection Element limits the distance between the floating element of said base unit and device; Be used for controlling the base unit controller of said Connection Element effector; (iii) floating element, this floating element can comprise: propelling unit; Framework; Propelling unit motor, said propelling unit motor can be configured to make said propelling unit to rotate around first axle; Wherein, the propelling unit motor can be connected to framework; Removable steering component; Controller, said controller are used for controlling said propelling unit motor and said removable steering unit one of at least with the location that influences said floating element and orientation one of at least; And interface module, said interface module is used for capacity weight is connected to said floating element and is used for receiving electric power from said Connection Element; The electric power that is wherein received by said electricity interface can be used to said propelling unit motor and said controller provides electric power.
Said Connection Element can be that flexible cable and wherein said Connection Element effector can be configured to roll and launch said flexible cable; Wherein can be in when aerial at said floating element, said flexible cable can be maintained in the tension.
The Connection Element effector can be configured to carry out a series of roll and launch operation, said a series of changes of rolling and launch to operate the effective length that causes said flexible cable; The change of wherein said length is the sub-fraction of the effective length of said flexible cable.
Said flexible cable can be connected to said flexible cable interface through the vibrations strain element.
Said flexible cable has wing cross-sectional plane.
Said propelling unit motor can be configured to when said floating element can be rolled-up, make said propelling unit rotation.
Said propelling unit motor can be configured to during the rolling and launch of said flexible cable, said propelling unit rotated with fixed speed.
Said propelling unit motor can be configured to during rolling said flexible cable, reduce said angle of rake rotative speed.
Said propelling unit motor can be configured to change said angle of rake rotative speed based on the effective length of said flexible cable.
Base unit can be installed on the vehicle.
A kind of floating element is provided.This floating element can comprise: framework; Propelling unit; Propelling unit motor, said propelling unit motor are connected to said framework and are configured to make said propelling unit to rotate with fixed speed around first axle; The capacity weight interface module, said capacity weight interface module is used for capacity weight is connected to said floating element; Controller; At least one is steering component fixedly, said at least one fixedly steering component be used for preventing said float element because said angle of rake with the rotation of said fixed speed and around said first axle rotation; By at least one removable steering component of said controller control, said at least one removable steering component is used for compensating the location of said floating element or the quick variation of orientation; And cable interface, said cable interface is used for receiving electric power from the flexible cable of tension, and the flexible cable of said tension is connected to base unit with said floating element; The electric power that is wherein received by said electricity interface is used to said propelling unit motor and said controller provides electric power.
A kind of floating element is provided.This floating element can comprise: propelling unit; Propelling unit motor, said propelling unit motor structure become to make said propelling unit rotation; Wherein said propelling unit motor receives the electric power that is produced by base unit; The capacity weight interface, said capacity weight interface is used for capacity weight is connected to said floating element; Removable steering component; Controller, said controller are used for controlling said removable steering unit and are used for controlling said propelling unit motor; And cable interface module, said cable interface module is used between the top of the flexible cable of tension and said first axle, introducing angular deviation; The flexible cable of wherein said tension is connected to base unit with said floating element.
A kind of method that is used for operating floating element is provided.Said method can comprise: receive electric power from Connection Element, said Connection Element is connected to base unit with said floating element; The electric power distribution that said electricity interface is received arrives the propelling unit motor of said floating element and the controller of said floating element; By said propelling unit motor the propelling unit of said floating element is rotated around first axle; With at least one removable steering component of controlling through said controller in said propelling unit motor and the said removable steering unit, with in the location that influences said floating element and the orientation one of at least.
Said method can comprise the orientation of the said floating element of sensing and control said at least one removable steering component in response to the orientation of said floating element.
Said method can comprise that the floating element of introducing in response to the fixedly steering component of floating element is anti-rotation and be used for being controlled to few removable steering component.
Said method can comprise that the interface module through said floating element introduces angular deviation between the top of the flexible cable of tension and said first axle.
Said method can comprise the removable steering component of control so that the location of compensation floating element or the quick change of orientation.
Said method can comprise said removable steering component is arranged in original position so that prevent said float element because said angle of rake with fixed speed rotation and around said first axle rotation; And said removable steering component is controlled near the said original position, so that compensate the location of said floating element or the quick change of orientation.
Said Connection Element is a flexible cable, is at said floating element that said flexible cable maintains in the tightened position when aerial.
Said method can be included in said flexible cable and make said propelling unit rotation when rolled-up.
Said method can be included in said flexible cable when rolled-up and when the flexible cable of tension is unfolded, and said propelling unit is rotated with fixing rotative speed.
Said method can be included in to be rolled during the said flexible cable, reduces said angle of rake rotative speed.
Said method can comprise based on said floating element to said base unit near and change said angle of rake rotative speed.
A kind of method is provided.Said method can comprise: when the propelling unit motor of floating element rotates the propelling unit of said floating element, increase the effective length that floating element is connected to the Connection Element of base unit; The effective length of wherein said Connection Element is confirmed the distance between said floating element and the said base unit; Be in when aerial in said float element, give said floating element with electric power supply through said Connection Element; When making the propelling unit rotation of said floating element, reduce the effective length of said Connection Element with propelling unit motor at said floating element.
Connection Element can be a flexible cable, and the effective length of the said increase Connection Element propelling unit motor that can be included in floating element launches flexible cable when making the propelling unit rotation of floating element.When rotating the propelling unit of floating element, the propelling unit motor that the said effective length that reduces Connection Element can be included in floating element rolls flexible cable.
Said method can comprise carries out a series of operations of rolling and launch, and these are a series of rolls and launch to operate the change of the length of the release portion that causes flexible cable; The change of wherein said length is the sub-fraction of length of the release portion of said flexible cable.
A kind of floating element is provided.Said floating element can comprise: first propelling unit; First framework; Second framework; The contrarotation element; Module is induced in rotation, and said rotation induced module block structure becomes to make said propelling unit to rotate and said contrarotation element is rotated with second direction around first axle with first direction, and said second direction is opposite with said first direction; Wherein said rotation induces module to be connected to said first framework; Be connected to the removable steering component of said second framework; Controller, said controller be used for controlling said rotation induce in module and the said removable steering unit one of at least with in the location that influences said floating element and the orientation one of at least; Be connected to the interface module of said second framework, said interface module is used for capacity weight is connected to said floating element and is used for receiving electric power from the Connection Element that said floating element is connected to base unit; The electric power that is wherein received by said electricity interface is used to said propelling unit motor and said controller provides electric power; With the framework link block, said framework link block is convenient to the relative motion between said first framework and second framework.
Said floating element can comprise fixedly steering component, and said fixedly steering component is connected to said rotation and induces module, is used for reducing the rotation of said first framework around said first axle.
Said opposite rotating element can be a propelling unit.
Said framework link block is convenient to relative motions between said first and second frameworks, two axis in edge, and said two axis are orientated with respect to said first axle.It can be perpendicular to first axle.
Description of drawings
According to following description, other feature and advantage of the present invention will be obvious.Here only the present invention is described with reference to accompanying drawing through the mode of example, wherein:
Fig. 1 is total view of system according to an embodiment of the invention;
Fig. 2 illustrates the base unit of system according to an embodiment of the invention;
Fig. 3 is the top view of the floating element of system according to an embodiment of the invention;
Figure 4 and 5 illustrate the stabilization and the angle control of floating element according to an embodiment of the invention;
Fig. 6 illustrates the method for this system of operation;
Fig. 7 illustrates system and environment thereof according to another embodiment of the present invention;
Fig. 8 and 9 illustrates according to the floating element of each embodiment of the present invention and Connection Element;
Figure 10-16 illustrates the floating element according to each embodiment of the present invention;
Figure 17-18 illustrates the whole bag of tricks according to each embodiment of the present invention; And
Figure 19-22 illustrates the floating element according to each embodiment of the present invention.
The specific embodiment
A kind of system (being also referred to as outstanding mast system) is provided.The height stretching, extension that this system can be used for observing, give a signal equipment, antenna, transmission trunking station, anti-terrorism are kept watch on or the like.This system can be light, compactness and portable and can comprise base unit and floating element.Floating element orientation and location (displacement) can be controlled in four degree of freedom, keep its inherent stability simultaneously.This system can be automatically and easily launches and fold.
Multiple application can be used this system, for example: observe, highly photography, reception/transmission trunking, put mark (through projector or laser), antenna or the like.
A kind of system is provided.It can comprise:
(i) Connection Element;
(ii) base unit, this base unit can comprise:
A. be used for electric power is offered the power supply of flexible cable;
B. be used for changing the Connection Element effector of the effective length of Connection Element; Wherein the effective length of Connection Element limits the base unit of this system and the distance between the floating element; With
C. be used for the base unit controller of control linkage component handler; With
(iii) floating element, this floating element can comprise:
A. propelling unit;
B. framework;
C. propelling unit motor, this propelling unit motor structure becomes propelling unit is rotated around first axle; Wherein the propelling unit motor is connected to framework;
D. removable steering component;
E. controller, this controller be used for controlling in propelling unit motor and the removable steering unit one of at least with in the location that influences floating element and the orientation one of at least; With
F. interface module, this interface module are used for capacity weight is connected to floating element and is used for receiving electric power from Connection Element; The electric power that is wherein received by electricity interface is used to the propelling unit motor and controller provides electric power.
Floating element can be connected to base unit through Connection Element, and this Connection Element can be a flexible cable.When floating element is in when aerial or at least during the part in unsteady cycle of floating element, flexible cable can keep being tightened up.The implication that flexible cable is tightened up is the power that on floating element, applies.On the meaning that floating element can be handled with respect to flexible cable, this power possibly be important.Connection Element can be different from flexible cable.For example, it can by each other loosely or pivotly a plurality of connecting rods of bonded assembly connect.
Floating element is provided.It can comprise:
I. propelling unit;
Ii. framework;
Iii. propelling unit motor, this propelling unit motor structure becomes propelling unit is rotated around first axle; Wherein the propelling unit motor is connected to framework;
Iv. removable steering component;
V. controller, this controller be used for controlling in propelling unit motor and the removable steering unit one of at least with in the location that influences floating element and the orientation one of at least; With
Vi. interface module, this interface module are used for capacity weight is connected to floating element and is used for receiving electric power from the Connection Element that floating element is connected to base unit; The electric power that is wherein received by electricity interface is used to the propelling unit motor and controller provides electric power.
The electric power that is provided to floating element also can be used to capacity weight provides electric power.
Fig. 1 illustrates system 50 according to an embodiment of the invention.
Fig. 1 is depicted as system 50 and comprises: base unit 100, this base unit are arranged on the vehicle such as van; With floating element 200, remain valid load (such as a kind of equipment of or more kinds of types) and can be of this floating element with himself giving rise to about 30 meters height in approximate 10 seconds.Notice that floating element 200 can give rise to the height that is different from 30 meters and during being different from cycle of 10 seconds with equipment.
Flexible cable 10 (in case discharging fully) can have 30m length so that obtain good observation, but also can use other length.The average lifting of floating element 200 and landing time are about 10 seconds.Floating element 200 can be configured to keep 1 to 5 kilogram capacity weight (though heavier or lighter capacity weight can by floating element 200 liftings), can have that low heat is distributed and can produce noise hardly.Notice, can use the flexible cable of other length.
Fig. 2 illustrates the system 50 that comprises base unit 100 and floating element 200 according to an embodiment of the invention.
Base unit controller such as system controller 160 is connected to rolling motor 150 and indication rolling motor 150 cws or left-hand revolution so that discharge or constraint flexible cable 10.Easily, instruction can comprise the speed and even the acceleration/accel of rotation.
Easily, system controller 160 can be through using wire communication line control floating element 200, and in this case, flexible cable 10 coats one or more communication cable.
Additionally or alternatively, system controller 160 also can through use radio communication (such as, based on the wireless communication system of RF) communicate by letter with floating element 200.
Carry under the situation of view camera at floating element 200, system controller 160 receives the image that is obtained by floating element 200 through the communication cable that is coated in the flexible cable 10.
During the final stage of landing, funnel 170 is used for the reception of floating element 200.When it was closed, chamber 180 was retained and is used for storing floating element 200.
Easily, base unit 100 comprises read out instrument, and this read out instrument is used for showing the image that photographic camera obtains and shows the unsteady parameter and the state of floating element 200.Alternatively, image can be displayed on the read out instrument of external system.
Easily, base unit 100 comprises that input media begins lifting and landing process and is in viewing angle and the inclination (four degree of freedom) of controlling floating element 200 when aerial at floating element to allow the user.Input media can comprise button, joystick or use the menu from read out instrument.
In order to prevent floating element 200 resonance, can use at least one in the following measure: (i) the Connection Element effector can be carried out a series of roll and launch operation, these a series of changes of rolling and launch to operate the effective length that causes flexible cable; Wherein this length change is less relatively, and they can be the sub-fractions of the effective length of flexible cable; (ii) flexible cable 10 can be connected to the flexible cable interface so that reduce to cause the mechanical shock from resonance through the vibrations strain element.
Floating element 200 is illustrated in Fig. 3, and has the shape of double-walled cylinder.Inner space between the cylinder wall can comprise the capacity weight that (or comprising at least in part) supported by floating element 200.Capacity weight can comprise a kind of equipment of or more kinds of types, such as but not limited to photographic camera, reception/transmission unit, signalling apparatus, laser marking machine.Capacity weight also can be installed on the floating element 200 in other place as shown in Figure 4.
Floating element 200 can comprise:
Ii. the propelling unit motor 220, and this propelling unit motor is pivotably connected to propelling unit 230 and is configured to make propelling unit 230 to rotate around first axle.
Iii. such as a plurality of at least one removable steering component that turns to fin 240, be used for the angle that is used for stablizing floating element 200 and helps to change floating element 200 through the cyclone that the balance propelling unit causes.Shown in Fig. 3 four turn to fin 240, but can implement any amount of fin greater than 1.
Iv. many fin motors 210, each fin motor are connected to and a plurality ofly turn to of fin 240 and control its open angle with respect to the plane of propelling unit 230.
V. be used to obtain capacity weight such as the photographic camera 250 (can be any other observation, antenna or give a signal equipment) of image.This photographic camera is connected through the interface (not shown).
Vi. such as the controller of floating element controller 260, this controller begins, suspends and change that its cireular frequency is controlled the operation of propulsion motor 220 and also through indicating a plurality of fin motors to change the operation that open angles are controlled a plurality of fin motors 210 through the indication propulsion motor.The image that obtains will or be handled the device (not shown) through the center communications electronics through photographic camera and be sent to base unit 100.
Vii. be used for being connected to flexible cable 10 and be used for receiving the interface (not shown) of electric power from flexible cable 10.
Floating element controller 260 can receive order (example: change viewing angle, change angle of inclination, lifting and landing) from system controller 160.The communication channel that is used for order and image transfer between floating element controller 260 and the system controller 160 is to use communication cable or radio communication channel in the flexible cable 10.Another selection is to use power cable to communicate transmission.
Floating element 200 receives its power supply through the power cable that is covered by in the flexible cable 10, has therefore eliminated the needs of the power supply that uses himself and has eliminated extra weight.
Fig. 4 illustrates the possible scheme of using gravity to stablize floating element.Flexible cable 10 is connected to interface, and this interface is pivotably connected to floating element 200.Fig. 5 illustrates the θ angle, uses gravity or passes through the advanced person's of use fin sensing and electric stabilizing system, can reduce this θ angle.Fig. 5 also illustrates the rotation that camera angle is selected.
Through causing that flexible cable 10 and its initial position-from the little angle θ of imaginary normal (perpendicular to ground) formation that base unit 100 rises, floating element 200 can (base unit 100 tops) be shifted from its initial position slightly.Through changing the open angle that at least one turns to fin 240, realize this displacement.
Through changing the open angle that at least one turns to fin 240, floating element 200 also can rotate around z axis shown in arrow 401 once more, therefore changes the viewpoint of photographic camera.
Through constraint flexible cable 10, the change of height can be provided also between the float period.
Fig. 6 illustrates the method 400 of operating system 50 according to an embodiment of the invention.
Floating element 200 is stable by turning to fin 240 controls during lifting.The speed of lifting is by the rolling motor that discharges flexible cable 10 150 restrictions.
When floating element 200 reached the hope height by the dimensional restriction of flexible cable 10, the stages 410 finished.
When floating element 200 floats aloft and after the arrival object height, it is the stage 420,430 and 440 after the stage 410.
Task in outstanding mast system 50 is that the stage 420 and 430 will take place under the situation of highly photography.
The stage 420 of obtaining image, this photographic camera arrived base unit 100 with the image transfer of obtaining by photographic camera 250 operations.
Distribute stage 430 of the image obtain after obtaining at least one image, to begin and continue simultaneously with the stage 420 of continuing to obtain other image.
This distribution can comprise through the communication cable in the use flexible cable 10 or through using radio communication to send images to system controller 160 by photographic camera 250.This distribution can comprise through the center communications electronics that is installed in the floating element 200 to be handled device and does not directly send image from photographic camera.
The height of adjusting floating element 200 and the stage 440 of angle can side by side be performed with the stage 420 or 430.
The position that changes floating element 200 can be used for obtaining image from different angles with angle, this image can be used for building landform 3D rendering, be used for trigonometric survey, super-resolution technique or the like.Position and the angle that changes floating element 200 also can be used for avoiding the obstacle of the sight line of block photographic machine.
The stage 450 of the landing of floating element 200 is by after user command (such as pressing the button or order through read out instrument) starting and a stage 420,430 in office and 440.
When floating element 200 reached the inlet of base unit 100, it concentrated in the chamber 180 of storing it through the funnel 170 of base unit 100.Propelling unit 230 with turn to fin 240 to be stopped.
According to embodiments of the invention, can estimate the motion of floating element 200 through using one or more photographic camera.
One or more instant camera can be installed on the floating element 200 and each photographic camera can point to the visible stable objects that is formed on respect on the stationary objects of base unit 100.For example, Fig. 7 illustrates the photographic camera 222 and 224 that points to visual target 610 and 620.Each photographic camera points to single visual target.
If base unit 100 is static, then testing process can be simplified.For example, any object can be used as stable objects.Can the application searches algorithm will be so that discern automatically and select as the best object of stable objects.
Each photographic camera obtains a series of images.Can handle these image sequences and can use the real-time tracking algorithm follow the tracks of stable objects and calculate one in the six-freedom degree floating element 200 any motion (such as: tilt, wave, any linearity moves or the like).
After following the tracks of can be to stablize floating element 200.This can comprise and receive sending by DSP or the stable information that produced by other control hardware, so that stablize floating element 200 or be installed in any optional equipment on the floating element 200.
According to embodiments of the invention, flexible cable 10 is connected to floating element 200 at one or more point.Fig. 8 illustrates flexible cable 10, and this flexible cable finishes with four different lines 11, and these four different lines are connected to floating element 200 at four different points.Fig. 9 illustrates flexible cable 10, and this flexible cable finishes with rigid element 12, and this rigid element is connected to floating element.Figure 10,12,13 and 14 is shown in the upper end that a single point is connected to flexible cable 10 with floating element 200.
Figure 10-14 illustrates the various structures of floating element 300 according to various embodiments of the present invention.
Figure 10-14 illustrates the capacity weight interface module 314 that is arranged in propelling unit motor 306 belows, and Fig. 3 illustrates the capacity weight (such as photographic camera 250) that is positioned at annular outer cover (this annular outer cover can above propelling unit motor 306) top.
Figure 10,12 and 13 is floating element 300 and lateral plans of capacity weight 390 according to various embodiments of the present invention.Figure 11 is the top view of floating element 300 according to an embodiment of the invention.Figure 13 is the 3-D view of floating element 300 according to an embodiment of the invention.
In Figure 10,11,13 and 14, floating element 300 is shown as the removable steering component 308 that comprises the bottom that is connected to annular outer cover 320.In Figure 12, floating element 300 is shown as and comprises removable steering component 308, and this removable steering component is connected to the interface unit 314 that is arranged in annular outer cover 320 belows.
In Figure 10-14, propelling unit 302 is around first axle 333 rotations.In some of these figure, first axle 333 is not shown.In Figure 10,11,12 and 14, the upper parallel of flexible cable 10 is in first axle 333.In Figure 13, top flexible cable 10 is with respect to first axle 333 orientations.Angular deviation is introduced by interface module 314.
Simple for what explain, the various parts (such as propelling unit 230) that Figure 10-14 illustrates the annular outer cover 320 of floating element 200 and is positioned at annular outer cover 320.Notice that though Figure 10-15 illustrates annular outer cover, the shape of this annular outer cover possibly be different from ring.
Figure 10-14 is depicted as floating element 300 and comprises propelling unit 302, framework 304, propelling unit motor 306, removable steering component 308, removable steering component motor 310, controller 360, interface module 314 and fixing steering component 316.
Figure 14 illustrates and is positioned at annular outer cover 320 exterior removable steering component motors 310.Notice that one or more removable steering component motor 310 can be positioned at annular outer cover 320.
Figure 10-14 is depicted as annular outer cover 320 and surrounds propelling unit 302, but annular outer cover needn't surround propelling unit.Propelling unit 302 can be arranged in above or below the annular outer cover 320.
Annular outer cover 320 can reduce material by thermal property, and radiation-absorbing material or both process (or by thermal property reduction material, radiation-absorbing material or both encirclements).
Figure 11 illustrates a plurality of removable steering components 308, and these a plurality of removable steering components extend from annular outer cover 320 but do not reach the central area of floating element 200.Notice that these a plurality of removable steering components 308 can be connected to propelling unit motor support element 318, annular outer cover 302 or both, perhaps be connected to any other part of framework 304.Be also noted that shape, size or the position of a removable steering component can be different from the shape of another removable steering component, size or position.
Figure 11 illustrates four removable steering components 308 that extend from annular outer cover 320 with mode radially.The quantity of removable steering component can surpass four perhaps can be between one and four.
Though Figure 10-14 illustrates individual interface module 314, notice that floating element 200 can comprise a plurality of interface modules.Additionally or alternatively, can comprise the capacity weight interface module 328 that is used for capacity weight is connected to floating element and be used for receiving the Connection Element interface module 330 of electric power from Connection Element.Module 328 and 330 can integrate, and can be arranged in the position of separation, or the like.Figure 10 illustrates module 328 and 330, and Figure 11-14 comprises the general reference of docking port module 314.
Figure 13 is illustrated in the angular deviation of introducing between Connection Element 10 and the floating element 200.
With reference to Figure 12, controller 312 and other electric parts can be arranged in various positions.For example, Figure 12 illustrates the shell 332 that belongs to interface module 314, and this shell can surround various electronic units, such as controller 312, orientation sensors 334, electric power distribution unit 336, communication unit 338 or the like.Notice that various sensors (such as wind sensor and orientation sensors) can be connected to other part of floating element 200.
Electric power distribution unit 336 can comprise battery, power conversions element and be used for various other electric components from the electric power distribution of flexible cable 10 supply to controller 312, electric propulsion device motor 306, and also can carry out filtering to electric power, carries out DC and change or the like to AC to DC, DC to DC, AC.
According to embodiments of the invention, removable steering component 308 can be used for compensating other rotation or the motion that rotation that propelling unit causes and compensation wind or other factors cause.Therefore, controller 312 can be set to original position so that prevent floating element 200 rotating with the fixed speed rotation and around first axle 333 owing to propelling unit 302 with removable steering component 308.Removable steering component 308 is moved near original position controller 312 so that the position of compensation floating element 200 or the quick variation of orientation.
Figure 16 illustrates the floating element 200 that comprises two frameworks according to an embodiment of the invention.Figure 22 illustrates the floating element 200 that comprises two frameworks according to an embodiment of the invention.
Figure 22 illustrates single propelling unit 302, but the floating element 200 of Figure 22 can comprise the contrarotation element.
Those floating element parts that the floating element 200 of Figure 16 is different from Figure 10-14 are to have a plurality of frameworks, and these a plurality of frameworks are convenient to the relative motion between second framework 342 that propelling unit motor 306 and (through interface) is connected to capacity weight.
Floating element 200 comprises: first propelling unit 302, first framework 340, second framework 342, induce module 346 such as contrarotation element, the rotation of second propelling unit 344; This rotation induced module block structure become to make first propelling unit 302 around first axle 333 with the first direction rotation and the contrarotation element such as second propelling unit 344 is rotated with second direction, this second direction and first direction are opposite.Rotation induces module 346 to be connected to first framework 340.It can comprise one or more driving engine.
Floating element 200 also can comprise: the removable steering component 348 that (i) is connected to second framework 342; (ii) controller 312, and this controller is used for controlling rotation and induces module 346 and removable steering unit 348 one of at least with the location that influence floating element 200 with one of be orientated at least; (iii) interface module 350, and this interface module is connected to second framework 342, and are arranged to capacity weight is connected to floating element 200 and is used for receiving electric power from Connection Element (such as flexible cable 10); (iv) the framework link block 352, and this framework link block promotes the relative motion between first framework 340 and second framework 342.
Floating element 200 also can comprise fixedly steering component 354, this fixedly steering component be connected to the rotation induce module 346, be used for reducing of the rotation of first framework 340 around first axle 333.
Notice, can also be through in annular outer cover 320, introducing opening and optionally open the location that these openings influence floating element 200, and additionally or alternatively, influence the orientation of floating element 200.
Through comprising that other propelling unit can influence the location of floating element 200, and additionally or alternatively, influence the orientation of floating element 200, this other propelling unit can be the part of floating element 200.
Notice; The floating element of Figure 16 can comprise that being connected to rotation induces one or more removable steering component of module 346; And additionally or alternatively, can comprise one or more the fixing steering component that is connected to second framework 342 (or interface 350).
Figure 15,19,20 and 21 illustrates floating element 200 according to another embodiment of the present invention.
Figure 15 is the transparent view of floating element 200, and Figure 19 is the lateral plan of floating element 200, and Figure 20 is the upward view of floating element 200, and Figure 21 is the birds-eye view of floating element 200.
The floating element 200 of Figure 15,19-21 comprises the protecting component such as dome 333, and this protecting component is positioned at below the propelling unit motor 206 and partly surrounds electronic unit 388.Near its protection electronic unit 388 and the change propelling unit motor 306 windstream.Electronic unit 388 can comprise at least one in parts 312,334,336,338 and 339.
The floating element 200 of Figure 15,19-21 comprises annular outer cover 321.The bottom of annular outer cover 321 is surrounded by other structural constituent 377, and one or more compartment can opened and limit to this other structural constituent, and capacity weight can be inserted in this one or more compartment.But this structural constituent is restricted space 377 also, and removable steering component motor 310 is arranged in this space.
Figure 17 illustrates method 1700 according to an embodiment of the invention.
The electric power distribution that stage 1720 will be received by electricity interface is to the propelling unit motor of floating element and the controller of floating element.
Stage 1740 is through at least one the removable steering component in controller control propelling unit motor and the removable steering unit, with the location that influence floating element with one of be orientated at least.
In either case, the stage 1740 can comprise at least one the removable steering component of orientation control in response to floating element.
Stage 1740 can comprise the anti-rotation effect of introducing in response to the fixedly steering component of floating element of floating element and control at least one removable steering component.
Stage 1740 also can comprise the removable steering component of control so that the location of compensation floating element or the quick change of orientation.
Stage 1740 also can comprise removable steering component is arranged in original position so that prevent float element owing to angle of rakely rotate and removable steering component is controlled near the original position so that compensate the location of floating element or the quick change of orientation around first axle with fixed speed rotation.
After floating element passes through angle of rake rotating lifting self, can execute phase 1710-1740.Therefore, between the rising stage of floating element, and even at floating element towards between the base unit decrement phase, can execute phase 1710-1740.
Simple for what explain, suppose that floating element is connected to flexible cable rolled-up and expansion, then the stage 1730 can comprise following at least one: (i) rotatable propeller when flexible cable is rolled-up; (ii) when flexible cable is rolled-up and when the flexible cable of tension is unfolded, make propelling unit with fixedly rotative speed rotation; (iii) during rolling flexible cable, reduce angle of rake rotative speed; (iv) based on floating element to base unit near and change angle of rake rotative speed.
Figure 18 illustrates method 1800 according to an embodiment of the invention.Method 1800 comprises the stage 1810,1820 and 1830.
The propelling unit motor that stage 1810 is included in floating element increases the effective length that floating element is connected to the Connection Element of base unit when making the propelling unit rotation of floating element; Wherein the effective length of Connection Element is confirmed the distance between floating element and the base unit.Stage 1820 is included in float element and is in when aerial and supplies power to floating element through Connection Element.The propelling unit motor that stage 1830 is included in floating element reduces the effective length of Connection Element when making the propelling unit rotation of floating element.
Connection Element can be a flexible cable, and the stage 1810 propelling unit motor that can be included in floating element launches flexible cable when making the propelling unit rotation of floating element.When making the propelling unit rotation of floating element, the propelling unit motor that the stage 1830 can be included in floating element rolls flexible cable.
A kind of or more kinds of method is provided.They can comprise any combination or the son combination in the stage of listing among the claim 34-43.A kind of or more kinds of floating element is provided.They can comprise any combination or the son combination of the element of listing among claim 1-21,32-33 and the 48-51.A kind of or more kinds of system is provided.They can comprise any combination or the son combination of the element of listing among the claim 22-31.A kind of or more kinds of system is provided.They can comprise floating element, and this floating element can comprise any combination or the son combination of the element of listing among claim 1-21,32-33 and the 48-51.
Though combined specific embodiment of the present invention the present invention has been described; But obvious is; Many replacement schemes, improved type and modification will be obvious to those skilled in the art; Therefore, the invention is intended to comprise spirit and interior all this replacement schemes, improved type and the modification of broad range that drops on accompanying claims.
Claims (51)
1. floating element, said floating element comprises:
Propelling unit;
Framework;
The propelling unit motor, said propelling unit motor structure becomes said propelling unit is rotated around first axle; Wherein said propelling unit motor is connected to said framework;
Removable steering component;
Controller, said controller be used for controlling in said propelling unit motor and the removable steering unit one of at least, with in the location that influences said floating element and the orientation one of at least; With
Interface module, said interface module are used for capacity weight is connected to said floating element and is used for receiving electric power from Connection Element, and said Connection Element is connected to base unit with said floating element; The electric power that is wherein received by electricity interface is used to said propelling unit motor and said controller provides electric power.
2. floating element according to claim 1, wherein said Connection Element is a flexible cable, is at said floating element that said flexible cable maintains in the tension when aerial.
3. floating element according to claim 1, wherein said propelling unit motor structure becomes said propelling unit is rotated with fixed speed; Wherein said floating element comprises at least one fixedly steering component, is used to prevent that said floating element is owing to said angle of rake with said fixed speed rotation and around said first axle rotation.
4. floating element according to claim 1, wherein said floating element comprise at least one fixedly steering component, are used to reduce the rotation around said first axle of the said floating element that causes owing to said angle of rake rotation.
5. floating element according to claim 1, wherein said framework comprise propelling unit motor support element and a plurality of fixedly steering component, and said a plurality of fixedly steering components are connected to said propelling unit motor support element the annular outer cover of said floating element.
6. floating element according to claim 1, wherein said interface module are configured between the top of said Connection Element and said first axle, introduce angular deviation.
7. floating element according to claim 6, wherein said interface module comprises:
Circular joint, said circular joint are connected between the top and said framework of said Connection Element; With
At least one interface module motor; With
At least one conversion of motion that interface element, said interface element are used for said at least one interface module motor is the top of said Connection Element and the relative motion between the said framework.
8. floating element according to claim 7, wherein said interface module comprises: the bottom that engages with said Connection Element; Be configured as the shell that is connected to said capacity weight; With the upper end that comprises said at least one interface module motor.
9. floating element according to claim 1, wherein said framework comprise the said angle of rake annular outer cover of encirclement.
10. floating element according to claim 9, wherein said annular outer cover are reduced material by thermal property and surround.
11. floating element according to claim 9, wherein said floating element comprise a plurality of removable steering components, said a plurality of removable steering components extend towards said loop configuration element from the central area of said floating element.
12. floating element according to claim 9, wherein said a plurality of removable steering components extend towards said loop configuration element with radial manner.
13. floating element according to claim 9, wherein at least one removable steering component is connected to the interior section of said annular outer cover.
14. floating element according to claim 1, wherein said interface module comprise the capacity weight interface module that is used for said capacity weight is connected to said floating element and are used for receiving from said Connection Element the Connection Element interface module of electric power.
15. floating element according to claim 14, wherein said capacity weight interface module are arranged in said propelling unit motor below.
16. floating element according to claim 14, wherein said capacity weight interface module are arranged in said propelling unit top.
17. floating element according to claim 14, wherein said removable steering component can move by means of being positioned at the exterior steering component motor of said annular outer cover.
18. being first framework and wherein said floating element, floating element according to claim 1, wherein said framework also comprise second framework; Wherein said first framework is connected to said propelling unit and said propelling unit motor; Wherein said second framework is connected to said interface module; And wherein said first framework and said second framework are connected to each other through the framework link block, and said framework link block is convenient to the relative motion between said first framework and said second framework.
19. floating element according to claim 1 comprises being used for the orientation sensors of orientation of the said floating element of sensing.
20. floating element according to claim 1, wherein said removable steering component are configured to by said controller control, so that compensate the location of said floating element or the quick variation of orientation.
21. floating element according to claim 1, wherein said controller structure becomes said removable steering component is arranged in original position, so that prevent said float element owing to saidly angle of rakely rotate and rotate around the floating element axis with fixed speed; Wherein said controller also is configured to make said removable steering component near said original position, to move, so that compensate the location of said floating element or the quick variation of orientation.
22. a system, said system comprises:
Connection Element;
Base unit, said base unit comprises:
Be used for electric power is offered the power supply of flexible cable;
Be used for changing the Connection Element effector of the effective length of said Connection Element; The effective length of wherein said Connection Element limits the distance between the floating element of said base unit and device;
Be used for controlling the base unit controller of said Connection Element effector; With
Floating element, said floating element comprises:
Propelling unit;
Framework;
The propelling unit motor, said propelling unit motor structure becomes said propelling unit is rotated around first axle; Wherein said propelling unit motor is connected to said framework;
Removable steering component;
Controller, said controller be used for controlling in said propelling unit motor and the removable steering unit one of at least, with in the location that influences said floating element and the orientation one of at least; With
Interface module, said interface module are used for capacity weight is connected to said floating element and is used for receiving electric power from said Connection Element; The electric power that is wherein received by electricity interface is used to said propelling unit motor and said controller provides electric power.
23. system according to claim 22, wherein said Connection Element is that flexible cable and wherein said Connection Element effector are configured to said flexible cable is rolled and launched; Wherein be in when aerial at said floating element, said flexible cable is maintained in the tension.
24. system according to claim 23, wherein said Connection Element effector is configured to carry out a series of roll and launch operation, said a series of changes of rolling and launch to operate the effective length that causes said flexible cable; The change of wherein said length is the sub-fraction of the effective length of said flexible cable.
25. system according to claim 23, wherein said flexible cable is connected to said flexible cable interface through the vibrations strain element.
26. system according to claim 23, wherein said flexible cable has wing cross-sectional plane.
27. system according to claim 23, wherein said propelling unit motor structure becomes when said floating element is rolled-up, to make said propelling unit rotation.
28. system according to claim 23, wherein said propelling unit motor structure becomes during the rolling and launch of said flexible cable said propelling unit is rotated with fixed speed.
29. system according to claim 23, wherein said propelling unit motor structure becomes said angle of rake rotative speed is reduced.
30. system according to claim 23, wherein said propelling unit motor structure becomes the effective length based on said flexible cable to change said angle of rake rotative speed.
31. system according to claim 22, wherein said base unit is installed on the vehicle.
32. a floating element, said floating element comprises:
Framework;
Propelling unit;
Propelling unit motor, said propelling unit motor are connected to said framework and are configured to make said propelling unit to rotate with fixed speed around first axle;
The capacity weight interface module, said capacity weight interface module is used for capacity weight is connected to said floating element;
Controller;
At least one is steering component fixedly, said at least one fixedly steering component be used for preventing said float element because said angle of rake with the rotation of said fixed speed and around said first axle rotation;
By at least one removable steering component of said controller control, said at least one removable steering component is used for compensating the location of said floating element or the quick variation of orientation; With
Cable interface, said cable interface are used for receiving electric power from the flexible cable of tension, and the flexible cable of said tension is connected to base unit with said floating element; The electric power that is wherein received by electricity interface is used to said propelling unit motor and said controller provides electric power.
33. a floating element, said floating element comprises:
Propelling unit;
Propelling unit motor, said propelling unit motor structure become to make said propelling unit rotation; Wherein said propelling unit motor receives the electric power that is produced by base unit;
The capacity weight interface, said capacity weight interface is used for capacity weight is connected to said floating element;
Removable steering component;
Controller, said controller are used for controlling removable steering unit and are used for controlling said propelling unit motor; With
Cable interface module, said cable interface module are used between the top of the flexible cable of tension and said first axle, introducing angular deviation; The flexible cable of wherein said tension is connected to said base unit with said floating element.
34. a method that is used for operating floating element, said method comprises:
Receive electric power from Connection Element, said Connection Element is connected to base unit with said floating element;
The electric power distribution that electricity interface is received arrives the propelling unit motor of said floating element and the controller of said floating element;
Through said propelling unit motor the propelling unit of said floating element is rotated around first axle; With
Control at least one the removable steering component in said propelling unit motor and the removable steering unit through said controller, with in the location that influences said floating element and the orientation one of at least.
35. method according to claim 34 comprises the orientation of the said floating element of sensing and controls said at least one removable steering component in response to the orientation of said floating element.
36. method according to claim 34 comprises in response to the floating element of being introduced by the fixedly steering component of said floating element is anti-rotation being used for controlling said at least one removable steering component.
37. method according to claim 34 comprises that also the interface module through said floating element is introduced angular deviation between the top of the flexible cable of tension and said first axle.
38. method according to claim 34 comprises that the said removable steering component of control is so that compensate the location of said floating element or the quick change of orientation.
39. method according to claim 34; Comprise said removable steering component is arranged in original position; So that prevent that said float element is owing to said angle of rake with the fixed speed rotation and around said first axle rotation; And said removable steering component is controlled near the said original position, so that compensate the location of said floating element or the quick change of orientation.
40. method according to claim 34, wherein said Connection Element is a flexible cable, is at said floating element that said flexible cable maintains in the tightened position when aerial.
41., be included in said flexible cable and make said propelling unit rotation when rolled-up according to the described method of claim 40.
42. according to the described method of claim 40, be included in said flexible cable when rolled-up and when the flexible cable of tension is unfolded, said propelling unit rotated with fixing rotative speed.
43. method according to claim 32 is included in and rolls during the said flexible cable, and said angle of rake rotative speed is reduced.
44. system according to claim 32, comprise based on said floating element to said base unit near and change said angle of rake rotative speed.
45. a method, said method comprises:
When the propelling unit motor of floating element rotates the propelling unit of said floating element, increase the effective length of Connection Element, said Connection Element is connected to base unit with said floating element; The effective length of wherein said Connection Element is confirmed the distance between said floating element and the said base unit;
Be in when aerial in said float element, supply power to said floating element through said Connection Element;
When the propelling unit motor of said floating element makes the propelling unit rotation of said floating element, reduce the effective length of said Connection Element.
46. according to the described method of claim 45, wherein said Connection Element is a flexible cable; The propelling unit motor that the effective length of wherein said increase Connection Element is included in said floating element launches said flexible cable when making the propelling unit rotation of said floating element; And when making the propelling unit rotation of said floating element, the propelling unit motor that the wherein said effective length that reduces said Connection Element is included in said floating element rolls said flexible cable.
47. according to the described method of claim 46, comprise and carry out a series of operations of rolling and launch, said a series of changes of rolling and launch to operate the length of the release portion that causes said flexible cable; The change of wherein said length is the sub-fraction of length of the release portion of said flexible cable.
48. a floating element, said floating element comprises:
First propelling unit;
First framework;
Second framework;
The contrarotation element;
Module is induced in rotation, and said rotation induced module block structure becomes to make said propelling unit to rotate and said contrarotation element is rotated with second direction around first axle with first direction, and said second direction is opposite with said first direction; Wherein said rotation induces module to be connected to said first framework;
Be connected to the removable steering component of said second framework;
Controller, said controller be used for controlling said rotation induce in module and the removable steering unit one of at least, with in the location that influences said floating element and the orientation one of at least;
Be connected to the interface module of said second framework, said interface module is used for capacity weight is connected to said floating element and is used for receiving electric power from Connection Element, and said Connection Element is connected to base unit with said floating element; The electric power that is wherein received by electricity interface is used to said propelling unit motor and said controller provides electric power; With
The framework link block, said framework link block is convenient to the relative motion between said first framework and second framework.
49. according to the described floating element of claim 48, also comprise fixedly steering component, said fixedly steering component is connected to said rotation and induces module, is used for reducing the rotation of said first framework around said first axle.
50. according to the described floating element of claim 48, wherein said contrarotation element is a propelling unit.
51. according to the described floating element of claim 48, wherein said framework link block is convenient to relative motions between said first framework and second framework, two axis in edge, said two axis are orientated with respect to said first axle.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US16682009P | 2009-04-06 | 2009-04-06 | |
| US61/166,820 | 2009-04-06 | ||
| PCT/IL2010/000273 WO2010116362A1 (en) | 2009-04-06 | 2010-04-06 | System, floating unit and method for elevating payloads |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102458987A true CN102458987A (en) | 2012-05-16 |
| CN102458987B CN102458987B (en) | 2015-10-07 |
Family
ID=42935701
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201080024244.3A Active CN102458987B (en) | 2009-04-06 | 2010-04-06 | Be used for lifting the system of capacity weight, floating element and method |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US8590829B2 (en) |
| CN (1) | CN102458987B (en) |
| BR (1) | BRPI1006265B1 (en) |
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| WO (1) | WO2010116362A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| BRPI1006265A8 (en) | 2018-03-27 |
| WO2010116362A1 (en) | 2010-10-14 |
| CN102458987B (en) | 2015-10-07 |
| IL215541A0 (en) | 2011-12-29 |
| US20120091258A1 (en) | 2012-04-19 |
| BRPI1006265A2 (en) | 2010-10-14 |
| IL215541A (en) | 2016-04-21 |
| US8590829B2 (en) | 2013-11-26 |
| BRPI1006265B1 (en) | 2021-01-19 |
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